/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
/* Definitions for Init */
osThreadId_t InitHandle;
const osThreadAttr_t Init_attributes = {
  .name = "Init",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for Imu */
osThreadId_t ImuHandle;
const osThreadAttr_t Imu_attributes = {
  .name = "Imu",
  .stack_size = 896 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for Motor */
osThreadId_t MotorHandle;
const osThreadAttr_t Motor_attributes = {
  .name = "Motor",
  .stack_size = 896 * 4,
  .priority = (osPriority_t) osPriorityLow,
};
/* Definitions for Interact */
osThreadId_t InteractHandle;
const osThreadAttr_t Interact_attributes = {
  .name = "Interact",
  .stack_size = 640 * 4,
  .priority = (osPriority_t) osPriorityLow,
};
/* Definitions for Camera */
osThreadId_t CameraHandle;
const osThreadAttr_t Camera_attributes = {
  .name = "Camera",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void InitTask(void *argument);
void ImuTask(void *argument);
void MotorTask(void *argument);
void InteractTask(void *argument);
void CameraTask(void *argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of Init */
  InitHandle = osThreadNew(InitTask, NULL, &Init_attributes);

  /* creation of Imu */
  ImuHandle = osThreadNew(ImuTask, NULL, &Imu_attributes);

  /* creation of Motor */
  MotorHandle = osThreadNew(MotorTask, NULL, &Motor_attributes);

  /* creation of Interact */
  InteractHandle = osThreadNew(InteractTask, NULL, &Interact_attributes);

  /* creation of Camera */
  CameraHandle = osThreadNew(CameraTask, NULL, &Camera_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */

}

/* USER CODE BEGIN Header_InitTask */
/**
  * @brief  Function implementing the Init thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_InitTask */
void InitTask(void *argument)
{
  /* USER CODE BEGIN InitTask */
  /* Infinite loop */
  for(;;)
  {
    osDelay(1);
  }
  /* USER CODE END InitTask */
}


/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
